A Practical Approach to Optimal Estimator Design in RAIM

Mathieu Joerger and Boris Pervan

Abstract:	This paper presents new methods to find the optimal non-least-squares (NLS) estimator that minimizes the integrity risk in Receiver Autonomous Integrity Monitoring (RAIM). These methods aim at lowering the integrity risk in exchange for a slight increase in nominal positioning error. A first algorithm is formulated as a multi-dimensional minimization problem, which directly minimizes integrity risk, but can only be solved using a time-consuming iterative process involving the integration of a bivariate normal distribution. Then, parity space representations are exploited to develop a new computationally-efficient, near-optimal NLS-estimator design method, which uses a straightforward line-search process. Performance analyses for an example multi-constellation Advanced RAIM (ARAIM) application show that this new method enables significant integrity risk reduction, even in real-time implementations where computational resources are limited.
Published in:	Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014) September 8 - 12, 2014 Tampa Convention Center Tampa, Florida
Pages:	3587 - 3599
Cite this article:	Joerger, Mathieu, Pervan, Boris, "A Practical Approach to Optimal Estimator Design in RAIM," Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014), Tampa, Florida, September 2014, pp. 3587-3599.
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